设定加速度计及陀螺仪的量程

通过 API 的 SetOptionValue() 函数,就可以设定当前打开设备的各类控制值。

设定加速度计及陀螺仪的量程,就是设定 Option::ACCELEROMETER_RANGEOption::GYROSCOPE_RANGE

注意

s1030有效值:

  • 加速度计量程有效值(单位:g): 4, 8, 16, 32 。
  • 陀螺仪量程有效值(单位:deg/s): 500, 1000, 2000, 4000 。

s2100/s210a有效值:

  • 加速度计量程有效值(单位:g): 6, 12, 24, 32 。
  • 陀螺仪量程有效值(单位:deg/s): 250, 500, 1000, 2000, 4000 。

参考代码片段:

s1030:

auto &&api = API::Create(argc, argv);
if (!api)
  return 1;

// ACCELEROMETER_RANGE values: 4, 8, 16, 32
api->SetOptionValue(Option::ACCELEROMETER_RANGE, 8);
// GYROSCOPE_RANGE values: 500, 1000, 2000, 4000
api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);

LOG(INFO) << "Set ACCELEROMETER_RANGE to "
          << api->GetOptionValue(Option::ACCELEROMETER_RANGE);
LOG(INFO) << "Set GYROSCOPE_RANGE to "
          << api->GetOptionValue(Option::GYROSCOPE_RANGE);

s2100/s210a:

auto &&api = API::Create(argc, argv);
if (!api) return 1;

bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);

// ACCELEROMETER_RANGE values: 6, 12, 24, 32
api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6);
// GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000
api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);

LOG(INFO) << "Set ACCELEROMETER_RANGE to "
          << api->GetOptionValue(Option::ACCELEROMETER_RANGE);
LOG(INFO) << "Set GYROSCOPE_RANGE to "
          << api->GetOptionValue(Option::GYROSCOPE_RANGE);

参考运行结果,于 Linux 上:

s1030:

$ ./samples/_output/bin/tutorials/ctrl_imu_range
I/utils.cc:28 Detecting MYNT EYE devices
I/utils.cc:38 MYNT EYE devices:
I/utils.cc:41   index: 0, name: MYNT-EYE-S1030, sn: 4B4C1F1100090712
I/utils.cc:49 Only one MYNT EYE device, select index: 0
I/imu_range.cc:34 Set ACCELEROMETER_RANGE to 8
I/imu_range.cc:36 Set GYROSCOPE_RANGE to 1000
I/imu_range.cc:81 Time beg: 2018-11-21 15:34:57.726428, end: 2018-11-21 15:35:12.190478, cost: 14464ms
I/imu_range.cc:84 Img count: 363, fps: 25.0967
I/imu_range.cc:86 Imu count: 2825, hz: 195.312

s2100/s210a:

$ ./samples/_output/bin/tutorials/ctrl_imu_range
I/utils.cc:30 Detecting MYNT EYE devices
I/utils.cc:40 MYNT EYE devices:
I/utils.cc:43   index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
I/utils.cc:51 Only one MYNT EYE device, select index: 0
I/utils.cc:79 MYNT EYE devices:
I/utils.cc:82   index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10
I/utils.cc:82   index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20
I/utils.cc:82   index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30
I/utils.cc:82   index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60
I/utils.cc:82   index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10
I/utils.cc:82   index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20
I/utils.cc:82   index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30
I/utils.cc:93 There are 7 stream requests, select index:
3
I/imu_range.cc:51 Set ACCELEROMETER_RANGE to 6
I/imu_range.cc:53 Set GYROSCOPE_RANGE to 1000
I/imu_range.cc:98 Time beg: 2018-12-29 10:03:10.706211, end: 2018-12-29 10:04:12.497427, cost: 61791.2ms
I/imu_range.cc:101 Img count: 3706, fps: 59.9762
I/imu_range.cc:103 Imu count: 24873, hz: 402.533

样例程序按 ESC/Q 结束运行后,imu量程设置完成。该结果将固化在硬件内部,不受掉电影响。

完整代码样例,请见 imu_range.cc